INAV CLI Variable Description (Part 1)

3d_deadband_high (3D Mode Throttle Deadband Upper Limit)

• In 3D mode, set the upper limit of the throttle channel deadband. When the throttle stick is between 3d_deadband_low and 3d_deadband_high, the system will use the neutral value set by 3d_neutral as the throttle output.
• Default value: 1514
• Minimum value: PWM_RANGE_MIN (usually 1000)
• Maximum value: PWM_RANGE_MAX (usually 2000)

3d_deadband_low (3D Mode Throttle Deadband Lower Limit)

• In 3D mode, set the lower limit of the throttle channel deadband. When the throttle stick is between 3d_deadband_low and 3d_deadband_high (i.e., within the deadband range), the system will not output throttle linearly based on stick position, but will directly use the neutral value specified by 3d_neutral, achieving a "no thrust" effect.
• Default value: 1406
• Minimum value: PWM_RANGE_MIN (usually 1000)
• Maximum value: PWM_RANGE_MAX (usually 2000)

3d_deadband_throttle (3D Mode Throttle Deadband Tolerance)

• In 3D mode, when the throttle stick is near the center position and its deviation is within the error range (tolerance) defined by this parameter, the system will fix the throttle signal to the neutral value (defined by 3d_neutral) instead of changing linearly based on stick position. This parameter controls the width of the "dead zone" around the neutral point.
• Default value: 50
• Minimum value: 0
• Maximum value: 200

3d_neutral (3D Mode Neutral Throttle Value)

• This parameter sets the neutral throttle PWM value in 3D mode, which is the throttle signal value when motors stop rotating. When the throttle stick is within the center deadband range (controlled by 3d_deadband_throttle), the flight controller outputs this neutral value, causing motors to neither rotate forward nor reverse.
• Default value: 1460
• Minimum value: PWM_RANGE_MIN (usually 1000)
• Maximum value: PWM_RANGE_MAX (usually 2000)

acc_event_threshold_high (Acceleration Event Trigger Threshold - High Value)

• When the acceleration value exceeds the threshold set by this parameter (unit: cm/s²), the SIM module will send a "collision/high G event" notification. Since fixed-wing aircraft can experience accelerations above 4G (approximately 3920 cm/s²) during normal flight without collisions, it is recommended to set this value to 4000 or higher to avoid false alarms. Setting this parameter to 0 disables the detection function.
• Default value: 0 (disabled by default)
• Minimum value: 0
• Maximum value: 65535

acc_event_threshold_low (Acceleration Event Trigger Threshold - Low Value)

• When the acceleration value is below the threshold set by this parameter (unit: cm/s²), the SIM module will send a "low G/free fall" notification. It is recommended to set this value below 100 to identify states similar to free fall or rapid descent. Setting to 0 disables this detection function.
• Default value: 0 (disabled by default)
• Minimum value: 0
• Maximum value: 900

acc_event_threshold_neg_x (Negative X-axis Acceleration Event Trigger Threshold)

• When the acceleration in the forward direction (toward the nose) is below the threshold set by this parameter (unit: cm/s²), the SIM module will send a "backward acceleration/fixed-wing landing" detection notification. This function is commonly used to identify the inertial characteristics of fixed-wing aircraft during landing deceleration.
• Recommended value: 1100 for fixed-wing
• Setting to 0 disables detection
• Default value: 0 (disabled)
• Minimum value: 0
• Maximum value: 65535

acc_hardware (Accelerometer Hardware Selection)

• Used to select the accelerometer sensor model used by the flight controller. If set to AUTO, the system will automatically detect available accelerometers. When manually specifying a model, the system will use only that sensor model.
• Purpose: For debugging or preventing flight controller initialization failures caused by damaged specific accelerometers.
• Default value: AUTO (auto-detection)
• Min/Max values: Not fixed, depends on accelerometer models supported by the firmware

acc_lpf_hz (Accelerometer Low Pass Filter Frequency)

• This is a software low-pass filter used to filter out mechanical vibration noise in accelerometer measurements. The set value represents the filter's cutoff frequency (Hz), which is the highest signal frequency allowed to pass.
• Default value: 15 Hz
• Minimum value: 0 Setting to 0 disables filtering.
• Maximum value: 200

acc_lpf_type (Accelerometer Low Pass Filter Type)

• This is a software low-pass filter type setting that specifies the calculation method for the accelerometer signal filter. Different filter types have different filtering effects and delay characteristics.
• Default value: BIQUAD

acc_notch_cutoff (Accelerometer Notch Filter Cutoff Frequency)

• This is the cutoff frequency setting for a software notch filter used to remove mechanical resonance frequencies (usually from motors or structural resonance) from accelerometer measurements.
• Default value: 1 Hz
• Value range: 1 ~ 255

acc_notch_hz (Accelerometer Notch Filter Center Frequency)

• Sets the center frequency (Hz) of the notch filter, which is the frequency band where the notch filter will primarily suppress mechanical vibrations.
• Default value: 0 Hz (indicates not enabled)
• Value range: 0 ~ 255

accgain_x (X-axis Accelerometer Calibration Gain Value)

• This is the X-axis calibration gain value calculated after performing "6 Position Advanced Calibration". The default value before calibration is 4096.
• Default value: 4096
• Value range: 1 ~ 8192

accgain_y (Y-axis Accelerometer Calibration Gain Value)

• This is the Y-axis accelerometer gain value automatically calculated after performing "6 Position Advanced Calibration". The default value before calibration is 4096.
• Default value: 4096
• Value range: 1 ~ 8192

accgain_z (Z-axis Accelerometer Calibration Gain Value)

• This is the Z-axis accelerometer gain value automatically calculated after "6 Position Advanced Calibration", used to correct sensor range errors.
• Default value: 4096
• Value range: 1 ~ 8192

acczero_x (X-axis Accelerometer Zero Offset Value)

• This is the X-axis zero offset correction value calculated by the accelerometer after "6 Position Advanced Calibration", used to compensate for offset at rest.
• Default value: 0
• Value range: -32768 ~ 32767

acczero_y (Y-axis Accelerometer Zero Offset Value)

• The Y-axis static zero offset compensation value calculated through calibration, used to improve the accuracy of attitude estimation.
• Default value: 0
• Value range: -32768 ~ 32767

acczero_z (Z-axis Accelerometer Zero Offset Value)

• Used to correct the static offset of the accelerometer on the Z-axis (such as drift in the gravity direction), derived from six-sided calibration.
• Default value: 0
• Value range: -32768 ~ 32767

ahrs_acc_ignore_rate (Accelerometer Ignore Threshold: Rotation Rate)

• When the total gyroscope rotation rate (unit: °/s) exceeds this value, the system considers the current aircraft rotation to be剧烈, making accelerometer data unreliable, thus reducing its weight in attitude estimation.
• Default value: 15 °/s
• Value range: 0 ~ 30

ahrs_acc_ignore_slope (Accelerometer Weight Transition Width)

• Sets the transition width (centered on ahrs_acc_ignore_rate) from "fully trust accelerometer" to "fully ignore accelerometer", controlling the smoothness of accelerometer weight changes.
• Default value: 5
• Value range: 0 ~ 10

ahrs_dcm_ki (INS DCM Accelerometer Integral Gain)

• This parameter is the KI integral gain for the accelerometer in the DCM (Direction Cosine Matrix) algorithm, used to integrate accelerometer data in attitude estimation. Proper KI helps offset attitude errors caused by gyro drift.
• Default value: 50
• Value range: 0 ~ 65535

ahrs_dcm_ki_mag (INS DCM Magnetometer Integral Gain)

• The DCM integral gain parameter provided for the magnetometer, used to smooth and correct heading estimation. Affects the aircraft's response speed to magnetic field changes.
• Default value: 50
• Value range: 0 ~ 65535

ahrs_dcm_kp (INS DCM Accelerometer Proportional Gain)

• The proportional gain (KP) of the accelerometer in DCM attitude calculation, controlling the influence of accelerometer data on attitude angle correction.
• Default value: 2000
• Value range: 0 ~ 65535

ahrs_dcm_kp_mag (INS DCM Magnetometer Proportional Gain)

• The proportional gain (KP) of the magnetometer in heading calculation, affecting the strength of the magnetometer's correction on the yaw angle during flight.
• Default value: 2000
• Value range: 0 ~ 65535

ahrs_gps_yaw_weight (GPS Heading Weight)

• When the magnetometer is available, this parameter sets the relative weight of GPS heading and magnetometer in heading calculation. Setting to 0 means not using GPS heading at all, while 100 means equal weight with the magnetometer.
• Default value: 100
• Value range: 0 ~ 50

ahrs_gps_yaw_windcomp (GPS Heading Wind Compensation)

• Whether to enable ground-based heading wind compensation (only for fixed-wing). When enabled, the system considers wind effects in heading calculation, improving GPS heading accuracy.
• Default value: ON
• Value range: ON / OFF

ahrs_inertia_comp_method（Inertia Compensation Method）

• When GPS is available, this parameter defines the AHRS inertia compensation method. The options are as follows: VELNED: Use velocity acceleration calculated from GPS for compensation; TURNRATE: Estimate acceleration by multiplying rotation rate by velocity; ADAPTIVE: Automatically select the best method between VELNED and TURNRATE in each iteration.
• Default value: ADAPTIVE
• Value range: VELNED / TURNRATE / ADAPTIVE

airmode_throttle_threshold（Airmode Throttle Threshold）

• When airmode_type is set to THROTTLE_THRESHOLD, this parameter defines the throttle threshold for activating airmode. Airmode activates when the throttle value is above this threshold and remains active until disarmed.
• Default value: 1150
• Value range: 1000 ~ 2000

airmode_type（Airmode Type）

• This parameter defines the control logic type for airmode, with the following options: STICK_CENTER: Traditional airmode, always active after enabling, but triggers anti-windup when throttle is low and all sticks are centered. THROTTLE_THRESHOLD: Betaflight-style airmode, activates when throttle is above airmode_throttle_threshold and remains effective until disarmed, without triggering anti-windup. STICK_CENTER_ONCE / STICK_CENTER: Fixed-wing default, maintains airmode stability after takeoff phase.
• Default value: STICK_CENTER

airspeed_adc_channel（Analog Airspeed Sensor ADC Channel）

• Defines the ADC channel used to connect an analog pitot tube airspeed sensor. If the flight controller board doesn't have a dedicated airspeed sensor port, channel 0 is used by default.
• Default value: target default
• Value range: ADC_CHN_NONE ~ ADC_CHN_MAX

align_board_pitch（Flight Controller Installation Pitch Angle）

• Sets the installation angle of the flight controller board around the pitch axis, in units of 0.1° (e.g., setting to 900 represents 90°). Used to support side-mounted, inverted, or rotated installations.
• Default value: 0
• Value range: -1800 ~ 3600 (i.e., -180.0° ~ 360.0°)

align_board_roll（Flight Controller Installation Roll Angle）

• Sets the installation angle of the flight controller board around the roll axis, in units of 0.1°. Used to adjust deviations in the flight controller's roll direction.
• Default value: 0
• Value range: -1800 ~ 3600

align_board_yaw（Flight Controller Installation Yaw Angle）

• Sets the installation angle of the flight controller board around the yaw axis, in units of 0.1°. Can be used to correct when the flight controller board is not installed facing forward (e.g., rotated 90°).
• Default value: 0
• Value range: -1800 ~ 3600

align_mag（Magnetometer Direction Calibration）

• Sets the directional calibration value for the magnetometer (for custom hardware or external magnetometers). This parameter only supports direction settings in 90° increments. Options include: DEFAULT, CW0_DEG, CW90_DEG, CW180_DEG, CW270_DEG, CW0_DEG_FLIP, CW90_DEG_FLIP, CW180_DEG_FLIP, CW270_DEG_FLIP. CW means clockwise rotation; FLIP means upside-down installation. Must be set correctly when using external magnetometers or non-default hardware.
• Default value: DEFAULT

align_mag_pitch（Magnetometer Pitch Angle Calibration）

• Sets the installation angle of an external magnetometer in the pitch direction, in units of 0.1°. This parameter only takes effect when using an external magnetometer.
• Default value: 0
• Value range: -1800 ~ 3600

align_mag_roll（Magnetometer Roll Angle Calibration）

• Sets the installation angle of an external magnetometer in the roll direction, in units of 0.1°. When this parameter is non-zero, the system assumes an external magnetometer is being used and ignores the align_mag setting.
• Default value: 0
• Value range: -1800 ~ 3600

align_mag_yaw（Magnetometer Yaw Angle Calibration）

• Sets the installation angle of an external magnetometer in the yaw direction, in units of 0.1°. Also only takes effect when using an external magnetometer.
• Default value: 0
• Value range: -1800 ~ 3600

align_opflow（Optical Flow Module Direction Calibration）

• Sets the direction of the optical flow module, with a default value of CW0_DEG_FLIP (i.e., installed facing forward and flipped). Used to ensure the optical flow direction aligns with the flight controller's inertial navigation direction.
• Default value: CW0FLIP

alt_hold_deadband（Altitude Hold Throttle Deadband）

• In altitude hold mode, sets the "deadband" range for the throttle signal, in R/C channel values (typically 1000~2000). When throttle changes are within this range, the system does not adjust altitude, preventing height oscillations from small throttle movements.
• Default value: 50
• Value range: 10 ~ 250

antigravity_accelerator（Anti-Gravity Acceleration Factor）

• Multiplier factor used to amplify anti-gravity gain. The larger the difference between actual throttle and filtered throttle signal, the greater the gain produced by this parameter, improving attitude stability during rapid throttle changes.
• Default value: 1
• Value range: 1 ~ 20

antigravity_cutoff_lpf_hz（Anti-Gravity Low-Pass Filter Frequency）

• Sets the cutoff frequency (Hz) of the low-pass filter used in the anti-gravity function to filter out throttle noise. This frequency affects the system's sensitivity to "rapid throttle changes".
• Default value: 15
• Value range: 1 ~ 30

antigravity_gain（Maximum Anti-Gravity Gain）

• Sets the maximum gain for the anti-gravity function. Setting to 1 disables the anti-gravity function; setting to 2 allows the Iterm to double during rapid throttle changes.
• Default value: 1
• Value range: 1 ~ 20

applied_defaults（Configuration Flag）

• Configuration flag used internally by the system, set by the configurator. Do not manually change this parameter.
• Default value: 0
• Value range: 0 ~ 99

baro_cal_tolerance（Barometer Calibration Tolerance）

• Sets the maximum fluctuation tolerance (cm) allowed during barometer initialization to determine if calibration was successful. The default value is suitable for the noisiest barometers.
• Default value: 150
• Value range: 0 ~ 1000

baro_hardware（Barometer Hardware Selection）

• Sets the specific hardware type used for barometric measurements. AUTO means auto-detection; refer to the Wiki for hardware support and troubleshooting information.
• Default value: AUTO

baro_hardware（Barometer Hardware Selection）

• Sets the specific hardware type used for barometric measurements. AUTO means auto-detection; refer to the Wiki for hardware support and troubleshooting information.
• Default value: AUTO

bat_voltage_src（Voltage Source Selection）

• Selects the voltage type used for battery warning and telemetry. Options: RAW: Raw voltage; SAG_COMP: Value after voltage sag compensation.
• Default value: RAW

battery_capacity（Battery Capacity）

• Sets the total battery capacity, in mAh or mWh (as determined by battery_capacity_unit). Used to calculate remaining battery percentage.
• Default value: 0
• Value range: 0 ~ 4294967295

battery_capacity_critical（Battery Critical Capacity）

• When the remaining battery capacity falls below this value, the buzzer will emit a long beep, and the system will consider the battery depleted.
• Default value: 0
• Value range: 0 ~ 4294967295

beeper_pwm_mode（Buzzer PWM Mode）

• Whether to enable PWM mode for the buzzer. If an external buzzer sounds weak, change this from ON to OFF. Do not switch OFF to ON unless you confirm the flight controller supports PWM mode.
• Default value: OFF
• Options: OFF / ON

blackbox_device（Blackbox Logging Device）

• Selects the location for writing blackbox data.
• Default value: target default

blackbox_rate_denom（Blackbox Logging Frequency Denominator）

• Denominator for blackbox logging frequency. See blackbox_rate_num for details.
• Default value: 1
• Value range: 1 ~ 65535

blackbox_rate_denom（Blackbox Logging Frequency Denominator）

• Denominator for blackbox logging frequency. See blackbox_rate_num for details.
• Default value: 1
• Value range: 1 ~ 65535

blackbox_rate_denom（Blackbox Logging Frequency Denominator）

• Denominator for blackbox logging frequency. See blackbox_rate_num for details.
• Default value: 1
• Value range: 1 ~ 65535

cruise_power（Cruise Power）

• Power consumption at cruise throttle (in units of 0.01W), used for remaining flight time/distance estimation.
• Default value: 0
• Value range: 0 ~ 4294967295

cruise_power

• Power consumption value at cruise throttle (in 0.01W units), used for remaining flight time/distance estimation.
• Default value: 0
• Range: 0 ~ 4294967295

cruise_power

• Power consumption value at cruise throttle (in 0.01W units), used for remaining flight time/distance estimation.
• Default value: 0
• Range: 0 ~ 4294967295

current_meter_scale

• Sets the voltage to current ratio for the current sensor (in 0.1mV/A units). For example, 400 represents 40mV/A.
• Default value: target default
• Range: -10000 ~ 10000

current_meter_type

• Options include ADC, VIRTUAL, NONE. Virtual current sensor estimates current based on throttle position (requires calibration for use).
• Default value: ADC

d_boost_gyro_delta_lpf_hz

• Cutoff frequency of the low-pass filter applied to gyro rate changes, used to generate the D-term boost signal. Lower values result in smoother signals but with more delay.
• Default value: 80
• Range: 10 ~ 250

d_boost_max

• D-term multiplier used when external conditions change rapidly. Lower values result in more responsive stick inputs; higher values result in smoother responses.
• Default value: 1.25
• Range: 1 ~ 3

d_boost_max_at_acceleration

• When acceleration exceeds this value, D gain will use the d_boost_max setting.
• Default value: 7500
• Range: 1000 ~ 16000

d_boost_min

• D-term multiplier used when the pilot makes rapid stick inputs. Lower values result in more responsive inputs; higher values result in smoother responses.
• Default value: 0.5
• Range: 0 ~ 1

deadband

• Invalid range for RC transmitter input (in μs). Input changes smaller than this range will be ignored. For transmitters with output jitter, this value can be increased appropriately.
• Default value: 2
• Range: 0 ~ 32

debug_mode

• Defines what is displayed in debug variables, for developer debugging only.
• Default value: NONE

disarm_always

• Allows disarming regardless of throttle position. When set to OFF, disarming is only allowed when throttle is low.
• Default value: ON
• Range: OFF ~ ON

display_force_sw_blink

• Can be enabled when OSD warning text/values are not visible. OFF uses hardware blinking, ON uses software blinking.
• Default value: OFF
• Range: OFF ~ ON

dji_cn_alternating_duration

• Switching interval between elements of the aircraft name field (in 0.1 second units)
• Default value: 30
• Range: 1 ~ 150

dji_esc_temp_source

• Use the ESC temperature field to display IMU/BARO temperature.
• Default value: ESC

dji_message_speed_source

• Set the speed type displayed in the aircraft name field on DJI OSD: GROUND (ground speed), 3D (3D speed), AIR (air speed)
• Default value: 3D

dji_rssi_source

• Signal source for the RSSI field in DJI OSD: RSSI, CRSF_LQ.
• Default value: RSSI

dji_use_adjustments

• Whether to display in-flight parameter adjustments in the aircraft name field.
• Default value: OFF
• Range: OFF ~ ON

dji_use_name_for_messages

• Whether to use the aircraft name field for displaying system messages.
• Default value: ON
• Range: OFF ~ ON

dshot_beeper_enabled

• Whether to enable using DShot ESCs as a beeper function.
• Default value: ON
• Range: OFF ~ ON

dshot_beeper_tone

• Set the tone for the DShot beeper.
• Default value: 1
• Range: 1 ~ 5

dterm_lpf_hz

• Cutoff frequency for the first stage D-term low-pass filter. The default value is conservative; 80-100Hz is recommended for small multirotors. 80 is recommended for 7-inch, 100 for 5-inch. Can be reduced if motors are overheating.
• Default value: 110
• Range: 0 ~ 500

dterm_lpf_type

• Sets the type of the first stage D-term low-pass filter. Options include: PT1, BIQUAD, PT2, PT3.
• Default value: PT2

dynamic_gyro_notch_3d_q

• Sets the Q factor (quality factor) for the 3D dynamic notch filter, used to control bandwidth and filtering precision.
• Default value: 200
• Range: 1 ~ 1000

dynamic_gyro_notch_enabled

• Enable or disable the dynamic gyro notch filter (also known as matrix filter).
• Default value: ON
• Range: OFF ~ ON

dynamic_gyro_notch_min_hz

• Sets the minimum frequency for the dynamic notch filter. Default 150 is suitable for 5-inch multirotors; can be reduced to about 100 for 7-inch; 60-70 is recommended for 10-inch.
• Default value: 50
• Range: 30 ~ 250

dynamic_gyro_notch_mode

• Sets the dynamic gyro notch type. Currently in 2D mode.
• Default value: 2D

dynamic_gyro_notch_q

• Sets the Q value for the dynamic notch filter, used to control notch width and filtering capability.
• Default value: 120
• Range: 1 ~ 1000

enable_broken_o4_workaround

• DJI O4 firmware has issues with MSP DisplayPort, enable this to restore ARM detection functionality.
• Default value: OFF
• Range: OFF ~ ON

esc_sensor_listen_only

• Enable this for BLHeli32 automatic telemetry functionality, do not enable in other situations.
• Default value: OFF
• Range: OFF ~ ON

ez_aggressiveness

• Sets the aggressiveness of EzTune auto-tuning response. Higher values result in more aggressive control.
• Default value: 100
• Range: 0 ~ 200

ez_axis_ratio

• Sets the proportional relationship between roll/pitch/yaw.
• Default value: 110
• Range: 25 ~ 175

ez_damping

• Sets the damping amount to balance control force and stability.
• Default value: 100
• Range: 0 ~ 200

ez_enabled

• Whether to enable the EzTune auto-tuning function.
• Default value: OFF
• Range: OFF ~ ON

ez_enabled

• Whether to enable the EzTune auto-tuning function.
• Default value: OFF
• Range: OFF ~ ON

ez_filter_hz

• Sets the cutoff frequency (Hz) for the EzTune filter to filter out vibrations.
• Default value: 110
• Range: 20 ~ 300

ez_rate

• Sets the steering reaction rate corresponding to RC transmitter input.
• Default value: 100
• Range: 0 ~ 200

ez_response

• Sets the sensitivity of the aircraft's response to inputs.
• Default value: 100
• Range: 0 ~ 200

ez_snappiness

• Sets the "lightness" of control, higher values result in more agile turns.
• Default value: 0
• Range: 0 ~ 100

ez_stability

• Sets the anti-interference stability of the aircraft, higher values result in more stability.
• Default value: 100
• Range: 0 ~ 200

failsafe_delay

• Time to wait after signal loss before entering failsafe protection, in 0.1 second (decisecond) units. See Failsafe documentation for details.
• Default value: 5
• Range: 0 ~ 200

failsafe_fw_pitch_angle（Fixed-wing Failsafe Pitch Angle）

• Fixed-wing pitch angle when executing LAND or old SET-THR failsafe actions, in units of 0.1 degrees. Negative values indicate nose-up climb.
• Default value: 100
• Range: -800 ~ 800

failsafe_fw_pitch_angle（Fixed-wing Failsafe Pitch Angle）

• Fixed-wing pitch angle when executing LAND or old SET-THR failsafe actions, in units of 0.1 degrees. Negative values indicate nose-up climb.
• Default value: 100
• Range: -800 ~ 800

failsafe_fw_yaw_rate（Fixed-wing Failsafe Yaw Rate）

• Yaw rate in failsafe state for fixed-wing, in units of °/s. Negative values indicate left turn.
• Default value: -45
• Range: -1000 ~ 1000

failsafe_gps_fix_estimation_delay（GPS Lock Loss Estimation Delay）

• Delay time before entering RTH after GPS lock is lost, in seconds, minimum 7 seconds. Set to -1 to continue mission without interruption.
• Default value: 7
• Range: -1 ~ 600

failsafe_lights（Failsafe Lights Switch）

• Whether to enable lights when failsafe mode is activated (target needs to have USE_LIGHTS compile option enabled).
• Default value: ON
• Range: OFF ~ ON

failsafe_lights_flash_on_time（Light Flash On Time）

• Duration that lights stay on, in milliseconds, only effective when failsafe mode is enabled and lights are on.
• Default value: 100
• Range: 20 ~ 65535

failsafe_lights_flash_on_time（Light Flash On Time）

• Duration that lights stay on, in milliseconds, only effective when failsafe mode is enabled and lights are on.
• Default value: 100
• Range: 20 ~ 65535

failsafe_lights_flash_period（Light Flash Period）

• Time interval between flashes, in milliseconds.
• Default value: 1000
• Range: 40 ~ 65535

failsafe_lights_flash_period（Light Flash Period）

• Time interval between flashes, in milliseconds.
• Default value: 1000
• Range: 40 ~ 65535

failsafe_min_distance_procedure（Failsafe Procedure at Minimum Distance）

• Failsafe strategy triggered when close to return point.
• Default value: DROP

failsafe_mission_delay（Failsafe Delay During Mission）

• Delay time for failsafe during mission execution (unit: seconds). Set to -1 to continue mission without interruption.
• Default value: 0
• Range: -1 ~ 600

failsafe_off_delay（Failsafe Motor Off Delay）

• Delay time after failsafe before motors are turned off, in 0.1 seconds. 0 means no timeout auto shutdown.
• Default value: 200
• Range: 0 ~ 200

failsafe_procedure（Failsafe Second Stage Handling）

• Action taken when failsafe enters second stage.
• Default value: LAND

failsafe_recovery_delay（Signal Recovery Exit Delay）

• Wait time after signal recovery before exiting failsafe protection, in 0.1 seconds.
• Default value: 5
• Range: 0 ~ 200

failsafe_stick_threshold（Stick Trigger Threshold）

• Movement amplitude of control sticks required to determine if failsafe is disarmed. When set to non-zero, even with signal recovery, stick movement is needed to exit failsafe.
• Default value: 50
• Range: 0 ~ 500

failsafe_throttle（Failsafe Throttle Value）

• Throttle value used during failsafe landing.
• Default value: 1000
• Range: PWM_RANGE_MIN ~ PWM_RANGE_MAX

failsafe_throttle_low_delay（Failsafe Delay at Low Throttle）

• If throttle remains low for this duration (in 0.1 seconds) before entering failsafe, motors will disarm directly instead of executing failsafe protection. Set to 0 to disable this function.
• Default value: 0
• Range: 0 ~ 300

fixed_wing_auto_arm（Fixed-wing Auto Arm）

• Auto-arm when throttle is above min_check; cannot be disarmed via stick commands, requires power cycle. Prerequisite is that motorstop is enabled and no disarm switch is set.
• Default value: OFF
• Range: OFF ~ ON

flaperon_throw_offset（Flaperon Throw Offset）

• Aileron deflection range (in us) passed to servo mixer when FLAPERON mode is activated via channel 14 (FLAPS function enabled).
• Default value: 200
• Range: FLAPERON_THROW_MIN ~ FLAPERON_THROW_MAX

fpv_mix_degrees（FPV Angle Mix）

• Camera tilt angle (in °) in FPV ANGLE MIX mode.
• Default value: 0
• Range: 0 ~ 50

frsky_pitch_roll（FrSky Pitch/Roll Data Format）

• S.Port telemetry: Whether to send angle values (×10) instead of raw acceleration data.
• Default value: OFF
• Range: OFF ~ ON

frsky_use_legacy_gps_mode_sensor_ids（FrSky Use Legacy Sensor IDs）

• S.Port telemetry: Use legacy mode and GNSS telemetry IDs (Tmp1/Tmp2), will be removed in INAV 10.0.
• Default value: OFF
• Range: OFF ~ ON

frsky_use_legacy_gps_mode_sensor_ids（FrSky Use Legacy Sensor IDs）

• S.Port telemetry: Use legacy mode and GNSS telemetry IDs (Tmp1/Tmp2), will be removed in INAV 10.0.
• Default value: OFF
• Range: OFF ~ ON

frsky_use_legacy_gps_mode_sensor_ids（FrSky Use Legacy Sensor IDs）

• S.Port telemetry: Use legacy mode and GNSS telemetry IDs (Tmp1/Tmp2), will be removed in INAV 10.0.
• Default value: OFF
• Range: OFF ~ ON

fw_autotune_rate_adjustment（Auto-tune Rate Adjustment Method）

• AUTO / LIMIT mode automatically adjusts rate based on aircraft characteristics, FIXED mode does not adjust. Rate remains constant during tuning in ANGLE mode.
• Default value: AUTO

fw_d_level（HORIZON Mode Transition Point）

• D term transition setting for attitude stabilization (HORIZON mode).
• Default value: 75
• Range: 0 ~ 255

fw_d_pitch / fw_d_roll / fw_d_yaw（D Gain）

• Rate control D gain for fixed-wing pitch / roll / yaw directions.
• Default value: 0
• Range: 0 ~ 255

fw_ff_pitch / fw_ff_roll / fw_ff_yaw（Feedforward Gain）

• Feedforward gain for fixed-wing pitch / roll / yaw directions.
• Default value: Pitch: 50, Roll: 50, Yaw: 60
• Range: 0 ~ 255

fw_i_level（Attitude Mode I Term Filter）

• Low-pass filter cutoff frequency for I term in fixed-wing attitude mode.
• Default value: 5
• Range: 0 ~ 255

fw_i_pitch / fw_i_roll / fw_i_yaw（I Gain）

• Rate control I gain for fixed-wing pitch / roll / yaw directions.
• Default value: Pitch: 7, Roll: 7, Yaw: 10
• Range: 0 ~ 255

fw_iterm_lock_engage_threshold（I Term Lock Error Threshold）

• Lock I term when error reaches this proportion (relative to max rate), unlock when error falls below this value.
• Default value: 10
• Range: 5 ~ 25

fw_iterm_lock_rate_threshold（I Term Decay Slope）

• Steepness of I term decay curve, higher values result in gentler decay.
• Default value: 40
• Range: 10 ~ 100

fw_iterm_lock_time_max_ms（I Term Lock Maximum Time）

• Maximum duration I term remains in decay state after stick release (in ms).
• Default value: 500
• Range: 100 ~ 1000

fw_level_pitch_gain（Self-level Mode Pitch I Term）

• I term for pitch auto-correction in self-leveling flight mode. Higher values result in faster correction but may cause oscillation.
• Default value: 5
• Range: 0 ~ 20

fw_level_pitch_trim（Self-level Pitch Trim）

• Pitch offset in self-leveling mode (in °), +5 means nose up 5 degrees.
• Default value: 0
• Range: -10 ~ 10

fw_loiter_direction（Loiter Direction）

• Loiter direction (default: RIGHT). Can be switched during flight if yaw direction control equals YAW.
• Default: RIGHT

fw_min_throttle_down_pitch（Idle Down Pitch Angle）

• When throttle is 0 and in angle mode, the aircraft's automatic dive angle (unit: 0.1°).
• Default: 0
• Range: 0 ~ 450

fw_p_level / fw_p_pitch / fw_p_roll / fw_p_yaw（P Gain）

• P-term gain for fixed-wing attitude / pitch / roll / yaw directions.
• Default: Level: 20, Pitch: 5, Roll: 5, Yaw: 6
• Range: 0 ~ 255

fw_reference_airspeed（Reference Airspeed）

• Airspeed set for PID tuning, typically cruising airspeed. Also used for coordinated turn calculations when airspeed is not available.
• Default: 1500
• Range: 300 ~ 6000

fw_tpa_time_constant（PID TPA Response Time Constant）

• TPA smoothing and delay time, used to simulate aircraft throttle and airspeed response lag. See Wiki for details.
• Default: 1500
• Range: 0 ~ 5000

fw_turn_assist_pitch_gain（Turn Assist Pitch Gain）

• In TURN_ASSIST mode, the gain required to maintain constant pitch angle during coordinated turns. If significantly different from 1.0, it may indicate issues with airspeed calibration (if applicable) or fw_reference_airspeed parameters.
• Default: 1
• Range: 0 ~ 2

fw_turn_assist_yaw_gain（Turn Assist Yaw Gain）

• In TURN_ASSIST mode, the gain required to align yaw rate with turn rate. If significantly different from 1.0, it may indicate issues with airspeed calibration (if applicable) or fw_reference_airspeed parameters.
• Default: 1
• Range: 0 ~ 2

fw_yaw_iterm_freeze_bank_angle（Yaw I-term Freeze Bank Angle）

• Freezes yaw I-term when bank angle exceeds this value (unit: degrees). Resolves rudder compensation issues during turns, only applicable in non-autopilot mode with TURN ASSIST disabled. Set to 0 to disable this feature.
• Default: 0
• Range: 0 ~ 90

geozone_avoid_altitude_range（No-fly Zone Avoidance Altitude Range）

• Altitude range for attempting to avoid no-fly zones upward (unit: cm).
• Default: 5000
• Range: 0 ~ 1,000,000

geozone_detection_distance（No-fly Zone Detection Distance）

• Horizontal distance at which no-fly zones are detected (unit: cm).
• Default: 50000
• Range: 0 ~ 1,000,000

geozone_mr_stop_distance（Multirotor Stop Distance）

• Distance at which multirotors stop before approaching no-fly zone boundaries (unit: cm).
• Default: 15000
• Range: 0 ~ 100,000

gimbal_pan_channel（Gimbal Pan Control Channel）

• RC channel number for gimbal horizontal rotation (Pan). Set to 0 to disable this function.
• Default: 0
• Range: 0 ~ 32

gimbal_pan_trim（Gimbal Pan Center Trim）

• Center position adjustment for horizontal rotation direction, used to correct center deviation (unit: none).
• Default: 0
• Range: -500 ~ 500

gimbal_roll_channel（Gimbal Roll Control Channel）

• RC channel number for gimbal roll. Set to 0 to disable this function.
• Default: 0
• Range: 0 ~ 32

gimbal_roll_trim（Gimbal Roll Center Trim）

• Center position adjustment for roll direction, used to correct center deviation (unit: none).
• Default: 0
• Range: -500 ~ 500

gimbal_sensitivity（Gimbal Sensitivity）

• Responsiveness of the gimbal, similar to a gain value. Higher values result in faster response.
• Default: 0
• Range: -16 ~ 15

gimbal_serial_single_uart（Gimbal UART Sharing）

• When enabled, the gimbal and head tracking device share one UART: FC RX connects to head tracking, TX connects to gimbal.
• Default: OFF
• Range: OFF ~ ON

gimbal_tilt_channel（Gimbal Tilt Control Channel）

• RC channel number for gimbal tilt. Set to 0 to disable this function.
• Default: 0
• Range: 0 ~ 32

gimbal_tilt_trim（Gimbal Tilt Center Trim）

• Center position adjustment for tilt direction, used to correct center deviation (unit: none).
• Default: 0
• Range: -500 ~ 500

gps_ublox_use_beidou（Enable BeiDou）

• Enable BeiDou satellite system. May reduce satellite support for other regional systems when enabled. Effect is region-dependent and requires GPS hardware support.
• Default: OFF
• Range: OFF ~ ON

gps_ublox_use_galileo（Enable Galileo）

• Enable Galileo satellite system. May reduce satellite support for other regional systems when enabled. Effect is region-dependent and requires M8N chip and Ublox 3.x or later firmware support.
• Default: OFF
• Range: OFF ~ ON

gps_ublox_use_glonass（Enable GLONASS）

• Enable Russian GLONASS satellite system. May reduce support for other regional systems when enabled. Effect is region-dependent and requires GPS hardware support.
• Default: OFF
• Range: OFF ~ ON

ground_test_mode（Ground Test Mode）

• Used for developer debugging. When enabled, motors will be disabled and heading status will be forced to trusted.
• Default: OFF
• Range: OFF ~ ON

gyro_adaptive_filter_hpf_hz（Gyro Adaptive High-pass Filter Frequency）

• Set the cutoff frequency for the high-pass filter (Hz).
• Default: 10
• Range: 1 ~ 50

gyro_adaptive_filter_integrator_threshold_high（Adaptive Filter Integrator High Threshold）

• High threshold setting for the adaptive filter.
• Default: 4
• Range: 1 ~ 10

gyro_adaptive_filter_integrator_threshold_low（Adaptive Filter Integrator Low Threshold）

• Low threshold setting for the adaptive filter.
• Default: -2
• Range: -10 ~ 0

gyro_adaptive_filter_max_hz（Adaptive Filter Maximum Frequency）

• Maximum operating frequency for the gyro adaptive filter.
• Default: 150
• Range: 0 ~ 505

gyro_adaptive_filter_min_hz（Adaptive Filter Minimum Frequency）

• Minimum operating frequency for the gyro adaptive filter.
• Default: 50
• Range: 0 ~ 250

gyro_adaptive_filter_std_lpf_hz（Adaptive Filter Standard Deviation Low-pass Frequency）

• Cutoff frequency for the adaptive filter standard deviation low-pass filter.
• Default: 2
• Range: 0 ~ 10

gyro_adaptive_filter_target（Adaptive Filter Target Value）

• Target value setting for the adaptive filter.
• Default: 3.5
• Range: 1 ~ 6

gyro_anti_aliasing_lpf_hz（Anti-aliasing Low-pass Filter Frequency）

• Frequency for the anti-aliasing low-pass filter in gyro signal processing. Not recommended to change during normal use. Unit: Hz.
• Default: 250
• Range: None ~ 1000

gyro_dyn_lpf_curve_expo（Dynamic Low-pass Filter Expo Curve）

• Expo curve exponent between throttle and dynamic low-pass filter frequency.
• Default: 5
• Range: 1 ~ 10

gyro_dyn_lpf_max_hz（Dynamic LPF Maximum Frequency）

• Maximum frequency for the gyro dynamic low-pass filter.
• Default: 500
• Range: 40 ~ 1000

gyro_dyn_lpf_min_hz（Dynamic LPF Minimum Frequency）

• Minimum frequency for the gyro dynamic low-pass filter.
• Default: 200
• Range: 40 ~ 400

gyro_filter_mode（Gyro Filter Mode）

• Specifies the software low-pass filter type for gyro signals.
• Default: STATIC
• Range: STATIC

gyro_lulu_enabled（Enable LULU Filter）

• Enable or disable the gyro LULU filter function.
• Default: OFF
• Range: OFF ~ ON

gyro_lulu_sample_count（LULU Sample Count）

• Set the number of samples used in LULU filtering.
• Default: 3
• Range: 1 ~ 15

gyro_main_lpf_hz（Main Low Pass Filter Frequency）

• Main software low pass filter frequency for the gyroscope (Hz).
• Default value: 60
• Range: 0 ~ 500

gyro_to_use（Select Which Gyroscope to Use）

• Select which gyroscope to use in a multi-gyroscope system: 0 for the first, 1 for the second.
• Default value: 0
• Range: 0 ~ 2

gyro_zero_x / y / z（Gyroscope Zero Calibration Values）

• Zero calibration values for the X/Y/Z axes of the gyroscope, automatically calculated by the system.
• Default value: 0
• Range: -32768 ~ 32767

has_flaps（Flap Function）

• Enable flap function. If set to ON and platform type is AIRPLANE, FLAPERON flight mode can be enabled.
• Default value: OFF
• Range: OFF ~ ON

heading_hold_rate_limit（Heading Hold Max Yaw Rate）

• Limits the maximum yaw rotation rate requested by the outer loop controller to the inner loop PID in HEADING_HOLD mode. Only effective when HEADING_HOLD, Return-to-Home (RTH), or WAYPOINT modes are enabled, independent of manual yaw.
• Default value: 90
• Range: HEADING_HOLD_RATE_LIMIT_MIN ~ HEADING_HOLD_RATE_LIMIT_MAX

headtracker_pan_ratio（Head Tracker Pan Ratio）

• Ratio between horizontal movement of the head tracking device and the gimbal pan movement.
• Default value: 1
• Range: 0 ~ 5

headtracker_roll_ratio（Head Tracker Roll Ratio）

• Ratio between roll movement of the head tracking device and the gimbal roll movement.
• Default value: 1
• Range: 0 ~ 5

headtracker_tilt_ratio（Head Tracker Tilt Ratio）

• Ratio between tilt movement of the head tracking device and the gimbal tilt movement.
• Default value: 1
• Range: 0 ~ 5

headtracker_type（Head Tracker Type）

• Set the type of head tracking device to use.
• Default value: NONE
• Range: NONE

hott_alarm_sound_interval（Hott Battery Alarm Interval）

• Delay time for battery alarm in Hott telemetry, in seconds.
• Default value: 5
• Range: 0 ~ 120

i2c_speed（I2C Bus Speed）

• Set the I2C bus clock frequency. Default 400KHz, supported by most devices; can be increased to 800KHz if there is less interference; can be reduced to 200KHz or 100KHz if wiring is long or sensors are unstable.
• Default value: 400KHZ
• Range: 100KHZ ~ 800KHZ (recommended values)

ibus_telemetry_type（iBus Telemetry Type）

• Set the compatibility type for iBus telemetry, used for transmitter communication. See the official Telemetry.md iBus section for details.
• Default value: 0
• Range: 0 ~ 255

idle_power（Idle Power）

• Power at idle state used for remaining flight time/distance estimation, in units of 0.01W.
• Default value: 0
• Range: 0 ~ 65535

inav_allow_dead_reckoning（Allow Dead Reckoning）

• Whether to enable inertial dead reckoning navigation when GPS is temporarily lost. Suitable for optical flow navigation or indoor flight.
• Default value: OFF
• Range: OFF ~ ON

inav_allow_gps_fix_estimation（Allow GPS Fix Estimation）

• Whether to allow position estimation via magnetometer and barometer when GPS is lost. Suitable for fixed-wing navigation and return-to-home. Recommended to use in conjunction with the failsafe_gps_fix_estimation_delay parameter.
• Default value: OFF
• Range: OFF ~ ON

inav_auto_mag_decl（Automatic Magnetic Declination）

• Automatically set magnetic declination based on GPS position. When enabled, manual magnetic declination settings will be ignored.
• Default value: ON
• Range: OFF ~ ON

inav_baro_epv（Barometric Altitude Error）

• Set the altitude uncertainty of the barometric sensor, in cm.
• Default value: 100
• Range: 0 ~ 9999

inav_default_alt_sensor（Default Altitude Sensor）

• Set the default altitude source to use. Options include GPS, BARO, GPS_ONLY, BARO_ONLY. The first two use both sources simultaneously, using only the selected source when error is too large. The latter two always use only the specified source.
• Default value: GPS
• Range: GPS / BARO / GPS_ONLY / BARO_ONLY

init_gyro_cal（Auto Initialize Gyroscope Calibration）

• If set to OFF, the gyroscope will not be recalibrated on each startup, but will use the previous calibration result. No need to keep the aircraft stationary during startup.
• Default value: ON
• Range: OFF ~ ON

ins_gravity_cmss（INS Gravity Acceleration）

• Set the 1G acceleration value defined in the inertial navigation system (in cm/s²).
• Default value: 0.0
• Range: 0 ~ 2000

iterm_windup（Integral Term Windup Limit）

• Limits the continuous accumulation of the integral term during aggressive maneuvers. The integral term will be suppressed when motor correction exceeds the set percentage.
• Default value: 50
• Range: 0 ~ 90

led_pin_pwm_mode（LED Pin PWM Mode）

• Set the PWM mode for LED pins.
• Default value: SHARED_LOW
• Range: SHARED_LOW

limit_attn_filter_cutoff（Throttle Attenuation Filter Cutoff Frequency）

• Filter cutoff frequency (Hz) for PI output in throttle attenuation control.
• Default value: 1.2
• Range: No minimum ~ 100

limit_burst_current（Burst Current Limit）

• Burst current limit (dA), only allowed within the limit_burst_current_time period, after which continuous current limits apply. Set to 0 to disable the limit.
• Default value: 0
• Range: 0 ~ 4000

limit_burst_current_falldown_time（Burst Current Falldown Time）

• Time (in ds) to transition slowly from limit_burst_current to limit_cont_current after the burst current period ends.
• Default value: 0
• Range: 0 ~ 3000

limit_burst_current_time（Burst Current Duration）

• Duration (in ds) that burst current is allowed, after which it switches to continuous current limits.
• Default value: 0
• Range: 0 ~ 3000

limit_burst_power（Burst Power Limit）

• Burst power limit (dW), only allowed within the limit_burst_power_time period, after which continuous power limits apply. Set to 0 to disable the limit.
• Default value: 0
• Range: 0 ~ 40000

limit_burst_power_falldown_time（Burst Power Falldown Time）

• Time (in ds) to transition slowly from limit_burst_power to limit_cont_power after the burst power period ends.
• Default value: 0
• Range: 0 ~ 3000

limit_burst_power_time（Burst Power Duration）

• Duration (in ds) that burst power is allowed, after which it switches to continuous power limits.
• Default value: 0
• Range: 0 ~ 3000

limit_cont_current（Continuous Current Limit）

• Continuous current limit (dA). Set to 0 to disable the limit.
• Default value: 0
• Range: 0 ~ 40000

limit_cont_power（Continuous Power Limit）

• Continuous power limit (dW). Set to 0 to disable the limit.
• Default value: 0
• Range: 0 ~ 40000

limit_pi_i（PI Controller I Term）

• I term coefficient for throttle attenuation PI control.
• Default value: 100
• Range: No minimum ~ 10000

limit_pi_p（PI Controller P Term）

• P term coefficient for throttle attenuation PI control.
• Default value: 100
• Range: No minimum ~ 10000

log_level（Log Level）

• Set the level for serial port debug logging. See the serial_printf_debugging.md document for details.
• Default value: ERROR
• Range: ERROR

log_topics（Log Topics）

• Set the recording topics for serial port debug logging (bit-controlled). See the serial_printf_debugging.md document for details.
• Default value: 0
• Range: 0 ~ 4294967295

looptime（Main Loop Time）

• Flight controller main loop time (in microseconds). Different PID controllers are sensitive to this value. Set to 0 for no limit, run as fast as possible.
• Default value: 500
• Range: No limit ~ 9000

ltm_update_rate（LTM telemetry update rate）

• Sets the update rate bandwidth for LTM telemetry. See the LTM section in Telemetry.md for details.
• Default value: NORMAL

Important

For more parameters, see the CLI variable descriptions: https://docs.corewing.com/plane/other/inav/cli-vars-2.html
https://docs.corewing.com/plane/other/inav/cli-vars-3.html

————This article is referenced from the official INAV website: https://github.com/iNavFlight/inav/blob/master/docs/Settings.md